Experiment study of PUMA robot calibration using a laser tracking system

Abstract

Laser tracking systems (LTS) are among the most accurate robot metrology systems. These laser interferometer systems combine the advantages of high resolution, large work space and contactless measurements. A target mounter on the end-effector of the robot, is automatically tracked by a laser beam targeted by the moving mirror. A prerequisite for utilizing a LTS to calibrate robots is that the LTS itself should be self-calibrated successfully. In this paper, we describe the experimental calibration of a PUMA 560 robot by using a LTS developed at the Robotics Center, Florida Atlantic University. The calibration is based on a prior successful self-calibration of the LTS. Calibration results are analyzed and confirmed using a verification method. This is the first actual calibration of robots using a LTS in the United States during the 20th centenary.